摘要
应用立体视觉三维测量系统对钢结构上若干待测标志点进行测量,测量前分两步对测量系统参数进行标定.首先应用基于平面模板的方法标定摄像机的固有参数,包括单个摄像机的内部参数和两个摄像机间的位置关系参数.其次使用单位四元数法对摄像机坐标系与设计坐标系之间的位置参数进行标定.为了验证标定结果的准确性,对摄像机内参数标定结果进行了重投影误差估算,重投影误差很小,满足系统测量误差要求.对标定结果进行重建试验,重建结果平均误差小于1 mm,最大误差小于2.5 mm.
For the purpose of accurately predicting the welding distortion of steel structure,a three-dimensional stereo visual measuring system was developed to measure several marked points on the steel structures.The parameters for the welding distortion measuring system should be calibrated through two steps prior to measuring.First,the camera's inherent parameters were calibrated by the planar template method.Inherent parameters were composed of single camera's intrinsic parameters and position parameters between two cameras.Second,the position parameters between the camera coordinate system and designed coordinate system were estimated by unit quaternion algorithm.In order to verify the accuracy of calibration results,two camera's intrinsic parameters error was estimated by means of re-projection.Re-projection error was very small and the result satisfied the requirement of the system measuring error.The calibration results were verified with reconstruction experiment,whose average error was less than 1 mm with the maximum error less than 2.5 mm.
出处
《焊接学报》
EI
CAS
CSCD
北大核心
2012年第3期21-24,114,共4页
Transactions of The China Welding Institution
基金
国家自然科学基金资助项目(51005049)
中央高校基本科研业务经费专项资金资助项目(HEUCF110107)
黑龙江省科技计划资助项目(GZ10A402)
哈尔滨市科技创新人才研究专项资金资助项目(2010RFQXG012)
